| |
| """make_ego_vis.py — render ego-view visualizations with the PROJECT visualizer. |
| |
| Assembles a merged episode dir (view1 + view2 + ego) that `visualize_episode.py` |
| can consume directly, then invokes it. The tracks stay in their shipped view1 |
| frame — the visualizer reconstructs world points once per frame and projects the |
| SAME points into all three views, so the output shows exo/ego consistency. |
| """ |
| from __future__ import annotations |
| import json, os, subprocess, sys |
| from pathlib import Path |
| import numpy as np |
|
|
| SHIPPED = Path("/data/jh_dataset/droid") |
| EGO = Path("/data/droid_ego_view") |
| RAWS = [Path("/data/droid_raw_subset"), Path("/data/droid_raw_laundry"), |
| Path("/data/droid_raw_laundry_scene9")] |
| STAGE = Path("/data/droid_ego_view_vis") |
| OUTD = STAGE / "_renders" |
| VIS = Path("/home/nvidia/jonghoon/gripper_augmentator/gripper_point_tracks/.debug/bw_jh_dataset/visualize_episode.py") |
|
|
|
|
|
|
| def h264(path): |
| """Re-encode an OpenCV-written mp4v file in place to broadly-playable H.264.""" |
| import subprocess, os |
| p = str(path); tmp = p[:-4] + ".h264.tmp.mp4" |
| r = subprocess.run(["ffmpeg", "-nostdin", "-v", "error", "-y", "-i", p, |
| "-c:v", "libx264", "-preset", "veryfast", "-crf", "18", |
| "-pix_fmt", "yuv420p", "-movflags", "+faststart", "-an", tmp], |
| capture_output=True, text=True) |
| if r.returncode == 0 and os.path.exists(tmp): |
| os.replace(tmp, p) |
| else: |
| if os.path.exists(tmp): os.remove(tmp) |
| print(f" WARN: ffmpeg re-encode failed for {p}: {r.stderr[-200:]}") |
|
|
|
|
| def wrist_mp4(ep, serial): |
| for b in RAWS: |
| p = b / ep / "recordings" / "MP4" / f"{serial}.mp4" |
| if p.exists(): |
| return p |
| return None |
|
|
|
|
| def stage(ep): |
| md = json.loads((EGO / ep / "meta_ego.json").read_text()) |
| I = md["views"]["ego"]["intrinsics"] |
| if I is None: |
| return None, "no_intrinsics" |
| serial = md["views"]["ego"]["serial"] |
| mp4 = wrist_mp4(ep, serial) |
| if mp4 is None: |
| return None, "no_wrist_video" |
| d = STAGE / ep |
| d.mkdir(parents=True, exist_ok=True) |
| for f in ("robot.npz", "gripper.npz", "view1.mp4", "view2.mp4"): |
| lk = d / f |
| if not lk.exists(): |
| lk.symlink_to(SHIPPED / ep / f) |
| lk = d / "ego.mp4" |
| if not lk.exists(): |
| lk.symlink_to(mp4) |
|
|
| meta = json.loads((SHIPPED / ep / "meta.json").read_text()) |
| T = np.load(EGO / ep / "ego_extrinsics.npz")["T_cam_world_perframe"] |
| meta["views"]["ego"] = { |
| "serial": serial, |
| "intrinsics": {"fx": I["fx"], "fy": I["fy"], "cx": I["cx"], "cy": I["cy"], |
| "width": I["width"], "height": I["height"], |
| "source": I["source"]}, |
| "T_cam_world_perframe": T.astype(np.float64).tolist(), |
| "extrinsics_refined": False, |
| "n_video_frames": int(T.shape[0]), |
| } |
| (d / "meta.json").write_text(json.dumps(meta)) |
| return d, "ok" |
|
|
|
|
| def main(): |
| eps = sys.argv[1:] |
| OUTD.mkdir(parents=True, exist_ok=True) |
| for ep in eps: |
| d, st = stage(ep) |
| if d is None: |
| print(f"skip {ep}: {st}") |
| continue |
| out = OUTD / f"ego_{ep}.mp4" |
| r = subprocess.run([sys.executable, str(VIS), "--split", "droid", |
| "--root", str(STAGE), "--episode", ep, |
| "--out", str(out), "--height", "420", |
| "--dump-frame", "-1"], |
| capture_output=True, text=True) |
| if r.returncode == 0 and out.exists(): |
| h264(out) |
| tail = (r.stdout or "").strip().splitlines()[-3:] |
| print(f"{ep}: rc={r.returncode} " + " | ".join(tail)) |
| if r.returncode != 0: |
| print(" STDERR:", (r.stderr or "")[-300:]) |
|
|
|
|
| if __name__ == "__main__": |
| main() |
|
|
